version: 66.07.10.p01
glider: 574
mission: 4
dive: 87
start: 10 10 112 15 57 12
data:
$ID,574
$MISSION,4
$DIVE,87
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,520
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5684.5815
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.017719
$PRESSURE_SLOPE,0.00011710486
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,66
$GPS1,101012,154805,-4325.232,-812.950,46,0.8,47,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-63.5
$GPS2,101012,155618,-4325.221,-812.831,16,1.3,17,-21.3
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.166,0.166
$KALMAN_X,-67772.2,351.2,-253.6,117540.2,-3677.4
$KALMAN_Y,-4399.1,-17.7,931.6,-58752.7,-1608.3
$MHEAD_RNG_PITCHd_Wd,66.3,115816,-13.9,-7.407
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,104,0.00,0.00,-77.35,0.000,2,0.000,0.000,65,1927,2719,0,0,0,0,0,0
$GC,106,-0.52,-145.9,3.0,-1.7,13,144,12.73,0.35,-18.62,0.000,4,0.281,0.139,2834,1693,3424,0,0,0,0,0,0
$GC,402,-0.46,-145.9,34.9,-9.5,64,410,0.08,0.32,0.00,0.000,6,0.160,0.051,2857,1924,3425,0,0,0,0,0,0
$GC,641,-0.46,-145.9,57.9,-9.2,105,646,0.00,1.98,0.00,0.000,4,0.000,0.063,2857,696,3425,0,0,0,0,0,0
$GC,709,-0.49,-145.9,65.0,-10.2,117,716,0.00,1.88,0.00,0.000,6,0.000,0.035,2852,1905,3425,0,0,0,0,0,0
$GC,1054,-0.49,-145.9,94.5,-9.9,178,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1905,3424,0,0,0,0,0,0
$GC,1388,-0.49,-145.9,125.5,-9.3,207,1392,0.00,1.52,0.00,0.000,4,0.000,0.060,2852,966,3424,0,0,0,0,0,0
$GC,1461,-0.49,-145.9,132.4,-8.7,211,1465,0.00,1.48,0.00,0.000,6,0.000,0.039,2848,1915,3424,0,0,0,0,0,0
$GC,1786,-0.49,-145.9,161.6,-9.3,232,1790,0.00,0.88,0.00,0.000,4,0.000,0.058,2847,1370,3424,0,0,0,0,0,0
$GC,1853,-0.49,-145.9,167.7,-8.8,236,1857,0.00,0.82,0.00,0.000,6,0.000,0.040,2844,1915,3424,0,0,0,0,0,0
$GC,2185,-0.49,-145.9,200.0,-10.0,257,2188,0.00,1.17,0.00,0.000,4,0.000,0.058,2844,1181,3425,0,0,0,0,0,0
$GC,2257,-0.49,-145.9,206.9,-9.3,261,2261,0.00,1.10,0.00,0.000,6,0.000,0.038,2839,1903,3424,0,0,0,0,0,0
$GC,2582,-0.49,-145.9,237.0,-9.2,282,2586,0.00,0.65,0.00,0.000,4,0.000,0.057,2839,1481,3424,0,0,0,0,0,0
$GC,2642,-0.49,-145.9,243.0,-9.7,285,2648,0.00,0.68,0.00,0.000,6,0.000,0.041,2838,1923,3425,0,0,0,0,0,0
$GC,2977,-0.49,-145.9,274.6,-9.9,303,2981,0.05,1.42,0.00,0.000,4,0.235,0.059,2849,1046,3424,0,0,0,0,0,0
$GC,3048,-0.49,-145.9,281.9,-9.6,306,3053,0.00,1.35,0.00,0.000,6,0.000,0.037,2845,1914,3424,0,0,0,0,0,0
$GC,3375,-0.49,-145.9,312.5,-9.3,322,3379,0.00,1.15,0.00,0.000,4,0.000,0.057,2845,1193,3425,0,0,0,0,0,0
$GC,3445,-0.49,-145.9,319.0,-9.6,325,3448,0.00,1.10,0.00,0.000,6,0.000,0.039,2842,1914,3424,0,0,0,0,0,0
$GC,3778,-0.49,-145.9,350.1,-8.9,341,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1914,3424,0,0,0,0,0,0
$GC,4086,-0.49,-145.9,376.4,-8.4,356,4089,0.00,0.65,0.00,0.000,4,0.000,0.055,2842,1493,3425,0,0,0,0,0,0
$GC,4145,-0.49,-145.9,381.7,-8.3,358,4153,0.00,0.65,0.00,0.000,6,0.000,0.040,2839,1925,3424,0,0,0,0,0,0
$GC,4461,-0.49,-145.9,407.9,-8.1,374,4464,0.00,1.62,0.00,0.000,4,0.000,0.058,2839,912,3424,0,0,0,0,0,0
$GC,4543,-0.49,-145.9,414.8,-8.0,377,4551,0.08,1.55,0.00,0.000,6,0.191,0.037,2853,1906,3425,0,0,0,0,0,0
$GC,4863,-0.53,-145.9,434.6,-6.3,393,4867,0.00,1.08,0.00,0.000,4,0.000,0.056,2853,1228,3425,0,0,0,0,0,0
$GC,4931,-0.57,-145.9,439.1,-6.6,396,4935,0.05,1.05,0.00,0.000,6,0.077,0.038,2818,1922,3425,0,0,0,0,0,0
$GC,5263,-0.52,-145.9,469.0,-9.2,412,5267,0.10,2.28,0.00,0.000,4,0.174,0.058,2843,502,3425,0,0,0,0,0,0
$GC,5340,-0.56,-145.9,475.4,-7.2,415,5346,0.00,2.15,0.00,0.000,6,0.000,0.034,2836,1903,3425,0,0,0,0,0,0
$GC,5658,-0.56,-145.9,501.3,-8.4,431,5662,0.00,0.45,0.00,0.000,4,0.000,0.055,2836,1594,3425,0,0,0,0,0,0
$GC,5728,-0.56,-145.9,507.8,-8.5,433,5733,0.00,0.50,0.00,0.000,6,0.000,0.043,2835,1935,3424,0,0,0,0,0,0
$GC,6063,-0.56,-145.9,539.1,-9.7,444,6067,0.00,1.55,0.00,0.000,4,0.000,0.056,2835,955,3424,0,0,0,0,0,0
$GC,6134,-0.56,-145.9,546.9,-10.3,446,6139,0.00,1.48,0.00,0.000,6,0.000,0.034,2830,1907,3424,0,0,0,0,0,0
$GC,6470,-0.56,-145.9,583.0,-11.0,457,6474,0.00,0.32,0.00,0.000,4,0.000,0.052,2829,2163,3423,0,0,0,0,0,0
$GC,6518,-0.56,-145.9,588.5,-11.3,458,6522,0.00,0.40,0.00,0.000,6,0.000,0.054,2829,1896,3423,0,0,0,0,0,0
$GC,6842,-0.53,-145.9,622.9,-10.8,469,6845,0.00,1.50,0.00,0.000,4,0.000,0.057,2829,942,3422,0,0,0,0,0,0
$GC,6909,-0.51,-145.9,630.5,-10.9,471,6914,0.05,1.50,0.00,0.000,6,0.155,0.036,2841,1917,3422,0,0,0,0,0,0
$GC,7249,-0.51,-145.9,663.3,-9.8,482,7253,0.00,0.45,0.00,0.000,4,0.000,0.057,2841,1617,3421,0,0,0,0,0,0
$GC,7316,-0.51,-145.9,670.0,-9.1,484,7320,0.00,0.45,0.00,0.000,6,0.000,0.044,2840,1934,3421,0,0,0,0,0,0
$GC,7656,-0.51,-145.9,702.4,-9.4,495,7660,0.00,2.25,0.00,0.000,4,0.000,0.059,2840,519,3421,0,0,0,0,0,0
$GC,7732,-0.54,-145.9,710.4,-10.0,497,7737,0.00,2.12,0.00,0.000,6,0.000,0.036,2836,1900,3420,0,0,0,0,0,0
$GC,8056,-0.54,-145.9,743.3,-10.7,508,8060,0.00,0.38,0.00,0.000,4,0.000,0.050,2833,2185,3419,0,0,0,0,0,0
$GC,8105,-0.54,-145.9,748.7,-11.0,509,8109,0.00,0.43,0.00,0.000,6,0.000,0.054,2833,1906,3419,0,0,0,0,0,0
$GC,8429,-0.54,-145.9,781.9,-10.2,520,8432,0.00,1.80,0.00,0.000,4,0.000,0.058,2833,735,3418,0,0,0,0,0,0
$GC,8506,-0.54,-145.9,790.1,-10.0,522,8510,0.00,1.83,0.00,0.000,6,0.000,0.036,2828,1921,3418,0,0,0,0,0,0
$GC,8835,-0.54,-145.9,823.8,-10.2,533,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1920,3417,0,0,0,0,0,0
$GC,9141,-0.54,-145.9,855.2,-10.3,543,9145,0.00,0.32,0.00,0.000,4,0.000,0.060,2828,1696,3417,0,0,0,0,0,0
$GC,9196,-0.54,-145.9,860.9,-10.9,544,9198,0.00,0.32,0.00,0.000,6,0.000,0.049,2827,1929,3417,0,0,0,0,0,0
$GC,9510,-0.54,-145.9,892.8,-10.6,555,9513,0.00,0.85,0.00,0.000,4,0.000,0.054,2827,1388,3416,0,0,0,0,0,0
$GC,9577,-0.54,-145.9,899.9,-9.8,557,9581,0.00,0.77,0.00,0.000,6,0.000,0.039,2825,1904,3416,0,0,0,0,0,0
$GC,9917,-0.52,-145.9,933.2,-9.6,568,9921,0.08,0.30,0.00,0.000,4,0.202,0.063,2841,1711,3415,0,0,0,0,0,0
$GC,9976,-0.55,-145.9,938.4,-8.7,569,9981,0.00,0.30,0.00,0.000,6,0.000,0.050,2840,1926,3415,0,0,0,0,0,0
$GC,10289,-0.57,-145.9,963.5,-8.2,580,10293,0.00,0.73,0.00,0.000,4,0.000,0.055,2840,1459,3415,0,0,0,0,0,0
$GC,10349,-0.60,-145.9,968.6,-9.3,581,10355,0.05,0.68,0.00,0.000,6,0.178,0.039,2818,1911,3415,0,0,0,0,0,0
$GC,10662,-0.57,-145.9,999.9,-10.3,592,10667,0.00,0.68,0.00,0.000,4,0.000,0.054,2818,1476,3414,0,0,0,0,0,0
$STATE,10670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10670,begin apogee
$GC,10674,-0.19,0.0,1000.9,10.2,592,10798,0.40,0.00,121.43,1.458,6,0.145,0.000,2943,1668,2827,0,0,0,0,0,0
$STATE,10799,end apogee,CONTROL_FINISHED_OK
$STATE,10799,begin climb
$GC,10800,0.52,145.9,1006.5,0.0,596,10936,0.73,2.55,126.28,1.416,4,0.095,0.067,3179,276,2232,0,0,0,0,0,0
$GC,11058,0.36,145.9,999.6,8.0,604,11064,0.17,2.20,0.00,0.000,6,0.168,0.035,3132,1620,2228,0,0,0,0,0,0
$GC,11394,0.30,176.3,978.8,6.4,615,11425,0.08,1.15,26.33,1.336,4,0.219,0.041,3116,2328,2108,0,0,0,0,0,0
$GC,11497,0.30,192.6,971.7,6.9,618,11518,0.00,1.10,15.73,1.276,6,0.000,0.050,3117,1662,2040,0,0,0,0,0,0
$GC,11831,0.30,212.3,948.7,6.7,629,11851,0.00,0.00,17.85,1.286,6,0.000,0.000,3118,1662,1961,0,0,0,0,0,0
$GC,12138,0.33,238.4,928.6,6.5,639,12168,0.00,0.52,23.88,1.314,4,0.000,0.043,3118,1996,1855,0,0,0,0,0,0
$GC,12218,0.36,274.4,923.4,6.2,641,12254,0.00,0.57,32.97,1.330,6,0.000,0.057,3118,1649,1707,0,0,0,0,0,0
$GC,12568,0.44,300.0,900.3,6.5,653,12596,0.10,0.00,23.75,1.292,6,0.105,0.000,3161,1648,1602,0,0,0,0,0,0
$GC,12903,0.44,300.0,871.0,8.8,664,12904,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1649,1596,0,0,0,0,0,0
$GC,13209,0.44,300.0,844.3,8.6,674,13213,0.00,0.65,0.00,0.000,4,0.000,0.064,3161,1240,1595,0,0,0,0,0,0
$GC,13269,0.44,300.0,839.2,8.6,675,13275,0.00,0.65,0.00,0.000,6,0.000,0.038,3161,1669,1595,0,0,0,0,0,0
$GC,13581,0.44,300.0,812.7,8.3,686,13585,0.00,0.35,0.00,0.000,4,0.000,0.069,3160,1446,1594,0,0,0,0,0,0
$GC,13635,0.44,300.0,808.2,7.7,687,13637,0.00,0.30,0.00,0.000,6,0.000,0.049,3161,1656,1594,0,0,0,0,0,0
$GC,13949,0.44,300.0,781.9,8.4,698,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1658,1593,0,0,0,0,0,0
$GC,14256,0.44,300.0,756.8,8.1,708,14257,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1658,1593,0,0,0,0,0,0
$GC,14562,0.44,300.0,731.5,8.4,718,14563,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1657,1593,0,0,0,0,0,0
$GC,14868,0.44,300.0,706.1,8.1,728,14872,0.00,0.45,0.00,0.000,4,0.000,0.067,3161,1368,1593,0,0,0,0,0,0
$GC,14911,0.44,300.0,702.6,8.4,729,14913,0.00,0.43,0.00,0.000,6,0.000,0.043,3161,1664,1593,0,0,0,0,0,0
$GC,15237,0.44,307.2,679.0,7.2,740,15245,0.00,0.00,5.95,0.910,6,0.000,0.000,3161,1665,1573,0,0,0,0,0,0
$GC,15543,0.44,310.8,657.0,7.3,750,15552,0.00,1.02,4.85,0.825,4,0.000,0.066,3161,1034,1558,0,0,0,0,0,0
$GC,15613,0.44,317.8,651.7,7.2,752,15625,0.00,0.95,7.75,1.014,6,0.000,0.037,3161,1654,1531,0,0,0,0,0,0
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$STATE,23076,end climb,SURFACE_DEPTH_REACHED
$STATE,23076,begin surface coast
$FINISH,1.1,1.026156
$STATE,23113,end surface coast,CONTROL_FINISHED_OK
$STATE,23113,begin surface
$SM_CCo,23188,0.00,0.000,0,0,1489,328.21
$SM_GC,2.20,8.32,0.00,0.00,0.050,0.000,0.000,87,1918,1489,-9.09,0.14,328.21
$IRIDIUM_FIX,-4311.50,-813.67,101012,090906
$TT8_MAMPS,0.026964
$HUMID,45.47
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,23.2,22.960
$10V_AH,10.2,20.203
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.125,72.975,421.625,0.000,0.000,28.202,50.683,300.041,0.250,0.000,19.717,3080.135,16117.932,514.546,3814.116,146.301,33.358,1913.587,0.000,3382.582,0.000,2.841,0.000
$DEVICE_MAMPS,280.755,139.230,1458.090,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.360,1520.024,819.513,97.173,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354556
$DATA_FILE_SIZE,73677,1239
$CAP_FILE_SIZE,194811,0
$CFSIZE,2097086464,2081325056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101012,222505,-4321.995,-812.802,52,1.0,53,-21.3